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// <copyright file="DepthImageConstants.cs" company="Microsoft Corporation">
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namespace Microsoft.Robotics.Vision.Cameras
{
    /// <summary>
    /// Depth image constants that will replace some values in the original depth image after we process it.
    /// </summary>
    public static class DepthImageConstants
    {
        /// <summary>
        /// Default reserved value for indicating floor pixels. Value does not matter as long as its negative and does not confused with anything else
        /// </summary>
        public const short FloorValue = -691;

        /// <summary>
        /// Default reserved value for indicating cliff pixels. Value does not matter as long as its negative and not confused with anything else
        /// Note. Currently unused, but could be applied at the same time with floor removal
        /// </summary>
        public const short CliffValue = -701;

        /// <summary>
        /// Default reserved value for indicating ceiling pixels. Value does not matter as long as its negative and not confused with anything else        
        /// </summary>
        public const short CeilingValue = -709;

        /// <summary>
        /// Arbitrary value (in mm) we picked to cut off distant readings.
        /// TODO: remove this concept. Consumers can enforce their limits, but the camera layer doesn't need to
        /// </summary>
        public const int MaximumRangeInMm = 20000;

        /// <summary>
        /// Arbitrary value (in meters) we picked to cut off distant readings.
        /// TODO: remove this concept. Consumers can enforce their limits, but the camera layer doesn't need to
        /// </summary>
        public const double MaximumRange = MaximumRangeInMm / 1000d;

        /// <summary>
        /// Arbitrary value we chose to indicate Kinect depth pixels that are closer than (yet another arbitrary) minimum range
        /// TODO: remove this concept. Consumers can enforce their limits, but the camera layer doesn't need to
        /// </summary>
        public const int TooClose = -32002;

        /// <summary>
        /// Arbitrary value we chose to indicate Kinect depth pixels that are farther than (yet another arbitrary) maximum range
        /// TODO: remove this concept. Consumers can enforce their limits, but the camera layer doesn't need to
        /// </summary>
        public const int TooFar = -32003;
    }
}
